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erdnaxe / kraby

Documentation and ressources of Kraby, an open-source hexapod robot
https://kraby.readthedocs.io
MIT License
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Set PyBullet timestep #10

Open erdnaxe opened 4 years ago

erdnaxe commented 4 years ago

For the moment, the simulation timestep is the same as the timestep of the environment. This may diverge the simulation is the timestep is too big.

erdnaxe commented 4 years ago

The observation of 18 servomotors is limited to approximatively 30 ms period.

Quoting https://github.com/bulletphysics/bullet3/issues/1460#issuecomment-348303154, using a 30 ms simulation timestep might make it diverge. One solution is to do 8 simulation steps in 1 environment step.